version: 66.02
glider: 128
mission: 2
dive: 100
start: 9 9 107 7 29 39
data:
$ID,128
$MISSION,2
$DIVE,100
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51503
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-61180.758
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,25
$PITCH_MAX,4070
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4014
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.508845
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,072045,4805.178,-12221.178,8,1.7,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.4
$GPS2,072839,4805.130,-12221.133,11,1.7,11,18.3
$SPEED_LIMITS,0.060,0.170
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,-0.080
$KALMAN_X,8165.4,22.7,103.7,-4876.5,118.8
$KALMAN_Y,2715.4,-74.2,-51.1,-8765.9,-4.3
$MHEAD_RNG_PITCHd_Wd,150.8,292,-33.3,-6.000
$D_GRID,108
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.55,-27.8,0.0,0.0,0,88,0.00,0.00,-64.30,0.000,6,0.000,0.000,16,2165,2915
$GC,90,-1.59,-59.6,1.9,-1.3,12,109,9.40,2.35,-3.62,0.000,4,0.217,0.062,2292,3551,3043
$GC,411,-1.59,-59.6,30.8,-8.1,58,419,0.00,2.28,0.00,0.000,6,0.000,0.029,2292,2143,3045
$GC,609,-1.59,-59.6,46.1,-7.6,77,613,0.00,2.35,0.00,0.000,4,0.000,0.048,2282,3555,3046
$GC,918,-1.59,-59.6,70.1,-7.5,104,922,0.00,2.22,0.00,0.000,6,0.000,0.029,2282,2139,3046
$STATE,1192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1192,begin apogee
$GC,1196,-0.23,0.0,90.5,7.7,130,1248,1.58,0.00,47.75,0.897,6,0.151,0.000,2739,2137,2800
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1249,begin climb
$GC,1250,1.59,59.6,91.6,0.0,135,1305,1.75,2.47,46.20,0.693,4,0.078,0.044,3332,690,2556
$GC,1350,1.59,59.6,84.0,10.6,144,1354,0.00,2.33,0.00,0.000,6,0.000,0.037,3332,2073,2555
$GC,1675,1.59,59.6,47.7,10.6,174,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2073,2555
$GC,1865,1.59,59.6,28.0,9.9,192,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2073,2554
$GC,2062,1.59,59.6,9.6,8.8,220,2068,0.00,2.33,0.00,0.000,4,0.000,0.050,3332,3493,2555
$GC,2125,1.59,59.6,3.9,9.1,231,2131,0.00,2.25,0.00,0.000,6,0.000,0.034,3342,2095,2554
$GC,2199,1.64,106.0,3.1,-0.8,244,2239,0.00,2.40,32.50,0.844,4,0.000,0.051,3342,3488,2366
$GC,2273,1.68,138.7,2.4,1.2,257,2292,0.00,2.33,13.85,0.686,6,0.000,0.033,3353,2071,2234
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2302,begin surface coast
$FINISH,0.5,1.013370
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2496,96.38,0.670,0,0,1372,350.04
$SM_GC,1.12,0.00,0.00,96.38,0.000,0.000,0.670,4,2166,1372,-8.80,0.42,350.04
$IRIDIUM_FIX,4748.51,-12226.29,090907,111110
$TT8_MAMPS,0.026078
$HUMID,1866
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,65.2,52.9
$24V_AH,24.7,16.545
$10V_AH,10.8,6.562
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.325,23.450,140.300,96.375,0.000,76.821,87.531,171.462,0.500,0.000,0.000,13.048,506.479,1254.430,284.640,628.736,417.674,33.338,597.158,0.000,642.718,0.000,2.526
$DEVICE_MAMPS,217.061,62.127,897.390,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,207.922,220.890,494.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15982,293
$CFSIZE,260165632,254889984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090907,081401,4804.987,-12221.151,35,1.1,36,18.3